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<div class="title">GaitScheduler.h</div>  </div>
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<a href="../../d0/d3f/_gait_scheduler_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="preprocessor">#ifndef GAIT_SCHEDULER_H</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="preprocessor">#define GAIT_SCHEDULER_H</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;</div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="../../d9/d8e/cpp_types_8h.html">cppTypes.h</a>&gt;</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor">#include &lt;iostream&gt;</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="../../d3/dc7/_quadruped_8h.html">Dynamics/Quadruped.h</a>&quot;</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;</div><div class="line"><a name="l00011"></a><span class="lineno"><a class="line" href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644">   11</a></span>&#160;<span class="keyword">enum class</span> <a class="code" href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644">GaitType</a> {</div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;  <a class="code" href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644add135fb441de529b55c24775556f3a81">STAND</a>,</div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;  <a class="code" href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644a0c00eda7250defe61fcbe8a5543b5a70">STAND_CYCLE</a>,</div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;  <a class="code" href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644ae17f898fe13f9f5dea6e5df227b1800f">STATIC_WALK</a>,</div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;  <a class="code" href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644a3f2f8723cbd899bb8c01535c8c20891d">AMBLE</a>,</div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;  <a class="code" href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644a1d7f92766f335adef7b76d10b19ed8bc">TROT_WALK</a>,</div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;  <a class="code" href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644aa58bb7e7d425c92a12bc54b3b3e6da9d">TROT</a>,</div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;  <a class="code" href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644ab3bce71c8ddab6720ae1b1580c534d16">TROT_RUN</a>,</div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;  <a class="code" href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644aa07127d952ba6758ae1e08d5d703d8ef">PACE</a>,</div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;  <a class="code" href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644af21b7bb741194744a5bfb09205ef1d42">BOUND</a>,</div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;  <a class="code" href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644a30ce6fd695850107605e2e6de3138a82">ROTARY_GALLOP</a>,</div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;  <a class="code" href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644aa693260f3ffbf0dc98943c793a3505ae">TRAVERSE_GALLOP</a>,</div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;  <a class="code" href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644a34c5eadaca5fda7993745596d7d45d6f">PRONK</a>,</div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;  <a class="code" href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644ac21f6a086117d20a0c539a258a82b12a">THREE_FOOT</a>,</div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;  <a class="code" href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644a72baef04098f035e8a320b03ad197818">CUSTOM</a>,</div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;  <a class="code" href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644aceebb59ead523196504cc39bcd4b54b3">TRANSITION_TO_STAND</a></div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;};</div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;</div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div><div class="line"><a name="l00033"></a><span class="lineno"><a class="line" href="../../d9/d28/struct_gait_data.html">   33</a></span>&#160;<span class="keyword">struct </span><a class="code" href="../../d9/d28/struct_gait_data.html">GaitData</a> {</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;  EIGEN_MAKE_ALIGNED_OPERATOR_NEW</div><div class="line"><a name="l00035"></a><span class="lineno"><a class="line" href="../../d9/d28/struct_gait_data.html#abb4707adbd3c6d652eee479afee545cf">   35</a></span>&#160;  <a class="code" href="../../d9/d28/struct_gait_data.html#abb4707adbd3c6d652eee479afee545cf">GaitData</a>() { zero(); }</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;  <span class="comment">// Zero out all of the data</span></div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;  <span class="keywordtype">void</span> zero();</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;  <span class="comment">// The current GaitType</span></div><div class="line"><a name="l00041"></a><span class="lineno"><a class="line" href="../../d9/d28/struct_gait_data.html#a1a6d7a7a9ae6cedcdde67e8f44aec8e3">   41</a></span>&#160;  <a class="code" href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644">GaitType</a> <a class="code" href="../../d9/d28/struct_gait_data.html#a1a6d7a7a9ae6cedcdde67e8f44aec8e3">_currentGait</a>;</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;  <span class="comment">// Next GaitType to transition into</span></div><div class="line"><a name="l00044"></a><span class="lineno"><a class="line" href="../../d9/d28/struct_gait_data.html#a3091eb8b2074cd3634a0ca4b765272a5">   44</a></span>&#160;  <a class="code" href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644">GaitType</a> <a class="code" href="../../d9/d28/struct_gait_data.html#a3091eb8b2074cd3634a0ca4b765272a5">_nextGait</a>;</div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;  <span class="comment">// Gait name string</span></div><div class="line"><a name="l00047"></a><span class="lineno"><a class="line" href="../../d9/d28/struct_gait_data.html#a0dc8b6daec81a9968b56a6cddf85fc5a">   47</a></span>&#160;  std::string <a class="code" href="../../d9/d28/struct_gait_data.html#a0dc8b6daec81a9968b56a6cddf85fc5a">gaitName</a>;</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;  <span class="comment">// Gait descriptors</span></div><div class="line"><a name="l00050"></a><span class="lineno"><a class="line" href="../../d9/d28/struct_gait_data.html#aeb60c069566b4d3946193252c86f4731">   50</a></span>&#160;  T <a class="code" href="../../d9/d28/struct_gait_data.html#aeb60c069566b4d3946193252c86f4731">periodTimeNominal</a>;      <span class="comment">// overall period time to scale</span></div><div class="line"><a name="l00051"></a><span class="lineno"><a class="line" href="../../d9/d28/struct_gait_data.html#aaeeba6320841f2197611a2eafb11e0a3">   51</a></span>&#160;  T <a class="code" href="../../d9/d28/struct_gait_data.html#aaeeba6320841f2197611a2eafb11e0a3">initialPhase</a>;           <span class="comment">// initial phase to offset</span></div><div class="line"><a name="l00052"></a><span class="lineno"><a class="line" href="../../d9/d28/struct_gait_data.html#a3e94492b83de5dfff7adbd9e3d459c07">   52</a></span>&#160;  T <a class="code" href="../../d9/d28/struct_gait_data.html#a3e94492b83de5dfff7adbd9e3d459c07">switchingPhaseNominal</a>;  <span class="comment">// nominal phase to switch contacts</span></div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  <span class="comment">// Enable flag for each foot</span></div><div class="line"><a name="l00055"></a><span class="lineno"><a class="line" href="../../d9/d28/struct_gait_data.html#add0c9a932db0d19643136306c5f9656f">   55</a></span>&#160;  Eigen::Vector4i <a class="code" href="../../d9/d28/struct_gait_data.html#add0c9a932db0d19643136306c5f9656f">gaitEnabled</a>;  <span class="comment">// enable gaint controlled legs</span></div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;  <span class="comment">// Time based descriptors</span></div><div class="line"><a name="l00058"></a><span class="lineno"><a class="line" href="../../d9/d28/struct_gait_data.html#ad78a18fb241f784d34814048c59042d7">   58</a></span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a738072d0d6a7a632be68f6261501826b">Vec4&lt;T&gt;</a> <a class="code" href="../../d9/d28/struct_gait_data.html#ad78a18fb241f784d34814048c59042d7">periodTime</a>;           <span class="comment">// overall foot scaled gait period time</span></div><div class="line"><a name="l00059"></a><span class="lineno"><a class="line" href="../../d9/d28/struct_gait_data.html#a5ccf174a71b0db575678bef2001b2b5b">   59</a></span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a738072d0d6a7a632be68f6261501826b">Vec4&lt;T&gt;</a> <a class="code" href="../../d9/d28/struct_gait_data.html#a5ccf174a71b0db575678bef2001b2b5b">timeStance</a>;           <span class="comment">// total stance time</span></div><div class="line"><a name="l00060"></a><span class="lineno"><a class="line" href="../../d9/d28/struct_gait_data.html#acb0a2921bfabe0af9167aa54e5e530f5">   60</a></span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a738072d0d6a7a632be68f6261501826b">Vec4&lt;T&gt;</a> <a class="code" href="../../d9/d28/struct_gait_data.html#acb0a2921bfabe0af9167aa54e5e530f5">timeSwing</a>;            <span class="comment">// total swing time</span></div><div class="line"><a name="l00061"></a><span class="lineno"><a class="line" href="../../d9/d28/struct_gait_data.html#a82fdfdcabbadc544098e48afa7376102">   61</a></span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a738072d0d6a7a632be68f6261501826b">Vec4&lt;T&gt;</a> <a class="code" href="../../d9/d28/struct_gait_data.html#a82fdfdcabbadc544098e48afa7376102">timeStanceRemaining</a>;  <span class="comment">// stance time remaining</span></div><div class="line"><a name="l00062"></a><span class="lineno"><a class="line" href="../../d9/d28/struct_gait_data.html#a5bf6283a57cfaa9a6cfa81c993501ae1">   62</a></span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a738072d0d6a7a632be68f6261501826b">Vec4&lt;T&gt;</a> <a class="code" href="../../d9/d28/struct_gait_data.html#a5bf6283a57cfaa9a6cfa81c993501ae1">timeSwingRemaining</a>;   <span class="comment">// swing time remaining</span></div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;  <span class="comment">// Phase based descriptors</span></div><div class="line"><a name="l00065"></a><span class="lineno"><a class="line" href="../../d9/d28/struct_gait_data.html#aa05dac9d12c7438c47a04637ec22b9a3">   65</a></span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a738072d0d6a7a632be68f6261501826b">Vec4&lt;T&gt;</a> <a class="code" href="../../d9/d28/struct_gait_data.html#aa05dac9d12c7438c47a04637ec22b9a3">switchingPhase</a>;  <span class="comment">// phase to switch to swing</span></div><div class="line"><a name="l00066"></a><span class="lineno"><a class="line" href="../../d9/d28/struct_gait_data.html#a960a25f46080a2d25abaf5401a48a52b">   66</a></span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a738072d0d6a7a632be68f6261501826b">Vec4&lt;T&gt;</a> <a class="code" href="../../d9/d28/struct_gait_data.html#a960a25f46080a2d25abaf5401a48a52b">phaseVariable</a>;   <span class="comment">// overall gait phase for each foot</span></div><div class="line"><a name="l00067"></a><span class="lineno"><a class="line" href="../../d9/d28/struct_gait_data.html#a197fda5994e8ee758412fea8a9f7e6ab">   67</a></span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a738072d0d6a7a632be68f6261501826b">Vec4&lt;T&gt;</a> <a class="code" href="../../d9/d28/struct_gait_data.html#a197fda5994e8ee758412fea8a9f7e6ab">phaseOffset</a>;     <span class="comment">// nominal gait phase offsets</span></div><div class="line"><a name="l00068"></a><span class="lineno"><a class="line" href="../../d9/d28/struct_gait_data.html#add9f8e23e0fc27743a2a5ae423177a3d">   68</a></span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a738072d0d6a7a632be68f6261501826b">Vec4&lt;T&gt;</a> <a class="code" href="../../d9/d28/struct_gait_data.html#add9f8e23e0fc27743a2a5ae423177a3d">phaseScale</a>;      <span class="comment">// phase scale relative to variable</span></div><div class="line"><a name="l00069"></a><span class="lineno"><a class="line" href="../../d9/d28/struct_gait_data.html#a56e7de32efd93bc39224e607e0d2ba6d">   69</a></span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a738072d0d6a7a632be68f6261501826b">Vec4&lt;T&gt;</a> <a class="code" href="../../d9/d28/struct_gait_data.html#a56e7de32efd93bc39224e607e0d2ba6d">phaseStance</a>;     <span class="comment">// stance subphase</span></div><div class="line"><a name="l00070"></a><span class="lineno"><a class="line" href="../../d9/d28/struct_gait_data.html#a773bfe95a76b2654665b4326bf826d6f">   70</a></span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a738072d0d6a7a632be68f6261501826b">Vec4&lt;T&gt;</a> <a class="code" href="../../d9/d28/struct_gait_data.html#a773bfe95a76b2654665b4326bf826d6f">phaseSwing</a>;      <span class="comment">// swing subphase</span></div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;</div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;  <span class="comment">// Scheduled contact states</span></div><div class="line"><a name="l00073"></a><span class="lineno"><a class="line" href="../../d9/d28/struct_gait_data.html#ac4110d976fc64261b1056ca00dc42d6d">   73</a></span>&#160;  Eigen::Vector4i <a class="code" href="../../d9/d28/struct_gait_data.html#ac4110d976fc64261b1056ca00dc42d6d">contactStateScheduled</a>;  <span class="comment">// contact state of the foot</span></div><div class="line"><a name="l00074"></a><span class="lineno"><a class="line" href="../../d9/d28/struct_gait_data.html#abe8407729e50c8e324ea6e10f5ca4eeb">   74</a></span>&#160;  Eigen::Vector4i <a class="code" href="../../d9/d28/struct_gait_data.html#abe8407729e50c8e324ea6e10f5ca4eeb">contactStatePrev</a>;       <span class="comment">// previous contact state of the foot</span></div><div class="line"><a name="l00075"></a><span class="lineno"><a class="line" href="../../d9/d28/struct_gait_data.html#a43fb8805cf329a610d8142c667b24cc8">   75</a></span>&#160;  Eigen::Vector4i <a class="code" href="../../d9/d28/struct_gait_data.html#a43fb8805cf329a610d8142c667b24cc8">touchdownScheduled</a>;     <span class="comment">// scheduled touchdown event flag</span></div><div class="line"><a name="l00076"></a><span class="lineno"><a class="line" href="../../d9/d28/struct_gait_data.html#a3bc3e900d98746913452eb4f0fd65019">   76</a></span>&#160;  Eigen::Vector4i <a class="code" href="../../d9/d28/struct_gait_data.html#a3bc3e900d98746913452eb4f0fd65019">liftoffScheduled</a>;       <span class="comment">// scheduled touchdown event flag</span></div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;</div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;  <span class="comment">// Position of the feet in the world frame at takeoff time</span></div><div class="line"><a name="l00079"></a><span class="lineno"><a class="line" href="../../d9/d28/struct_gait_data.html#a3f1b6aef189eceb4771cbe18a3477ad8">   79</a></span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a9a619c10ca4afba68f09ef05ab2364c6">Mat34&lt;T&gt;</a> <a class="code" href="../../d9/d28/struct_gait_data.html#a3f1b6aef189eceb4771cbe18a3477ad8">posFootLiftoffWorld</a>;    <span class="comment">// foot position when scheduled to lift off</span></div><div class="line"><a name="l00080"></a><span class="lineno"><a class="line" href="../../d9/d28/struct_gait_data.html#ac4a83dfdb9b0bde71b57c7a274339b4c">   80</a></span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a9a619c10ca4afba68f09ef05ab2364c6">Mat34&lt;T&gt;</a> <a class="code" href="../../d9/d28/struct_gait_data.html#ac4a83dfdb9b0bde71b57c7a274339b4c">posFootTouchdownWorld</a>;  <span class="comment">// foot position when scheduled to touchdown</span></div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;};</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;</div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div><div class="line"><a name="l00087"></a><span class="lineno"><a class="line" href="../../d1/d14/class_gait_scheduler.html">   87</a></span>&#160;<span class="keyword">class </span><a class="code" href="../../d1/d14/class_gait_scheduler.html">GaitScheduler</a> {</div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160; <span class="keyword">public</span>:</div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;  <span class="comment">// Constructors for the GaitScheduler</span></div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;  <a class="code" href="../../d1/d14/class_gait_scheduler.html">GaitScheduler</a>();</div><div class="line"><a name="l00091"></a><span class="lineno"><a class="line" href="../../d1/d14/class_gait_scheduler.html#a69896c6cef7e2ce5af6e03257e20cb6a">   91</a></span>&#160;  <a class="code" href="../../d1/d14/class_gait_scheduler.html#a69896c6cef7e2ce5af6e03257e20cb6a">~GaitScheduler</a>(){};</div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;</div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;  <span class="comment">// Initialize the Gait Scheduler</span></div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;  <span class="keywordtype">void</span> initialize();</div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;</div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;  <span class="comment">// Iteration step for scheduler logic</span></div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;  <span class="keywordtype">void</span> step();</div><div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;</div><div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;  <span class="comment">// Creates a new gait from predefined library</span></div><div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;  <span class="keywordtype">void</span> createGait();</div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;</div><div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;  <span class="comment">// Prints the characteristic info and curret state</span></div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;  <span class="keywordtype">void</span> printGaitInfo();</div><div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;</div><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;  <span class="comment">// Struct containing all of the gait relevant data</span></div><div class="line"><a name="l00106"></a><span class="lineno"><a class="line" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">  106</a></span>&#160;  <a class="code" href="../../d9/d28/struct_gait_data.html">GaitData&lt;T&gt;</a> <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>;</div><div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;</div><div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160; <span class="keyword">private</span>:</div><div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;  <span class="comment">// The quadruped model</span></div><div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;  <span class="comment">// Quadruped&lt;T&gt;&amp; _quadruped;</span></div><div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;</div><div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;  <span class="comment">// Control loop timestep change</span></div><div class="line"><a name="l00113"></a><span class="lineno"><a class="line" href="../../d1/d14/class_gait_scheduler.html#a356c80a20b9f85b1baddbe9dc984e81f">  113</a></span>&#160;  T dt = 0.001;</div><div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;</div><div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;  <span class="comment">// Phase change at each step</span></div><div class="line"><a name="l00116"></a><span class="lineno"><a class="line" href="../../d1/d14/class_gait_scheduler.html#a58f00cf651b7057beca2a74d376f1230">  116</a></span>&#160;  T <a class="code" href="../../d1/d14/class_gait_scheduler.html#a58f00cf651b7057beca2a74d376f1230">dphase</a>;</div><div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;</div><div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;  <span class="comment">// Choose how often to print info, every N iterations</span></div><div class="line"><a name="l00119"></a><span class="lineno"><a class="line" href="../../d1/d14/class_gait_scheduler.html#a9fe751d44ef5f89b7b2abb20340c7321">  119</a></span>&#160;  <span class="keywordtype">int</span> printNum = 5;  <span class="comment">// N*(0.001s) in simulation time</span></div><div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;</div><div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;  <span class="comment">// Track the number of iterations since last info print</span></div><div class="line"><a name="l00122"></a><span class="lineno"><a class="line" href="../../d1/d14/class_gait_scheduler.html#aaa7152b3069b18d1c24c0bb64135e369">  122</a></span>&#160;  <span class="keywordtype">int</span> printIter = 0;</div><div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;};</div><div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;</div><div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;<span class="preprocessor">#endif</span></div><div class="ttc" id="struct_gait_data_html_a5ccf174a71b0db575678bef2001b2b5b"><div class="ttname"><a href="../../d9/d28/struct_gait_data.html#a5ccf174a71b0db575678bef2001b2b5b">GaitData::timeStance</a></div><div class="ttdeci">Vec4&lt; T &gt; timeStance</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d3f/_gait_scheduler_8h_source.html#l00059">GaitScheduler.h:59</a></div></div>
<div class="ttc" id="struct_gait_data_html_a3bc3e900d98746913452eb4f0fd65019"><div class="ttname"><a href="../../d9/d28/struct_gait_data.html#a3bc3e900d98746913452eb4f0fd65019">GaitData::liftoffScheduled</a></div><div class="ttdeci">Eigen::Vector4i liftoffScheduled</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d3f/_gait_scheduler_8h_source.html#l00076">GaitScheduler.h:76</a></div></div>
<div class="ttc" id="_gait_scheduler_8h_html_a59af7e48457ec99ac3c9b011e8708644aa07127d952ba6758ae1e08d5d703d8ef"><div class="ttname"><a href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644aa07127d952ba6758ae1e08d5d703d8ef">GaitType::PACE</a></div></div>
<div class="ttc" id="_gait_scheduler_8h_html_a59af7e48457ec99ac3c9b011e8708644a3f2f8723cbd899bb8c01535c8c20891d"><div class="ttname"><a href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644a3f2f8723cbd899bb8c01535c8c20891d">GaitType::AMBLE</a></div></div>
<div class="ttc" id="struct_gait_data_html_a773bfe95a76b2654665b4326bf826d6f"><div class="ttname"><a href="../../d9/d28/struct_gait_data.html#a773bfe95a76b2654665b4326bf826d6f">GaitData::phaseSwing</a></div><div class="ttdeci">Vec4&lt; T &gt; phaseSwing</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d3f/_gait_scheduler_8h_source.html#l00070">GaitScheduler.h:70</a></div></div>
<div class="ttc" id="_gait_scheduler_8h_html_a59af7e48457ec99ac3c9b011e8708644aceebb59ead523196504cc39bcd4b54b3"><div class="ttname"><a href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644aceebb59ead523196504cc39bcd4b54b3">GaitType::TRANSITION_TO_STAND</a></div></div>
<div class="ttc" id="struct_gait_data_html_a3f1b6aef189eceb4771cbe18a3477ad8"><div class="ttname"><a href="../../d9/d28/struct_gait_data.html#a3f1b6aef189eceb4771cbe18a3477ad8">GaitData::posFootLiftoffWorld</a></div><div class="ttdeci">Mat34&lt; T &gt; posFootLiftoffWorld</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d3f/_gait_scheduler_8h_source.html#l00079">GaitScheduler.h:79</a></div></div>
<div class="ttc" id="struct_gait_data_html_add9f8e23e0fc27743a2a5ae423177a3d"><div class="ttname"><a href="../../d9/d28/struct_gait_data.html#add9f8e23e0fc27743a2a5ae423177a3d">GaitData::phaseScale</a></div><div class="ttdeci">Vec4&lt; T &gt; phaseScale</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d3f/_gait_scheduler_8h_source.html#l00068">GaitScheduler.h:68</a></div></div>
<div class="ttc" id="_gait_scheduler_8h_html_a59af7e48457ec99ac3c9b011e8708644add135fb441de529b55c24775556f3a81"><div class="ttname"><a href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644add135fb441de529b55c24775556f3a81">GaitType::STAND</a></div></div>
<div class="ttc" id="_gait_scheduler_8h_html_a59af7e48457ec99ac3c9b011e8708644af21b7bb741194744a5bfb09205ef1d42"><div class="ttname"><a href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644af21b7bb741194744a5bfb09205ef1d42">GaitType::BOUND</a></div></div>
<div class="ttc" id="_quadruped_8h_html"><div class="ttname"><a href="../../d3/dc7/_quadruped_8h.html">Quadruped.h</a></div><div class="ttdoc">Data structure containing parameters for quadruped robot. </div></div>
<div class="ttc" id="_gait_scheduler_8h_html_a59af7e48457ec99ac3c9b011e8708644a0c00eda7250defe61fcbe8a5543b5a70"><div class="ttname"><a href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644a0c00eda7250defe61fcbe8a5543b5a70">GaitType::STAND_CYCLE</a></div></div>
<div class="ttc" id="_gait_scheduler_8h_html_a59af7e48457ec99ac3c9b011e8708644ac21f6a086117d20a0c539a258a82b12a"><div class="ttname"><a href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644ac21f6a086117d20a0c539a258a82b12a">GaitType::THREE_FOOT</a></div></div>
<div class="ttc" id="cpp_types_8h_html"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html">cppTypes.h</a></div></div>
<div class="ttc" id="class_gait_scheduler_html_a38068cb2562c375e676ca73f42e32f66"><div class="ttname"><a href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">GaitScheduler::gaitData</a></div><div class="ttdeci">GaitData&lt; T &gt; gaitData</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d3f/_gait_scheduler_8h_source.html#l00106">GaitScheduler.h:106</a></div></div>
<div class="ttc" id="struct_gait_data_html_abb4707adbd3c6d652eee479afee545cf"><div class="ttname"><a href="../../d9/d28/struct_gait_data.html#abb4707adbd3c6d652eee479afee545cf">GaitData::GaitData</a></div><div class="ttdeci">EIGEN_MAKE_ALIGNED_OPERATOR_NEW GaitData()</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d3f/_gait_scheduler_8h_source.html#l00035">GaitScheduler.h:35</a></div></div>
<div class="ttc" id="_gait_scheduler_8h_html_a59af7e48457ec99ac3c9b011e8708644"><div class="ttname"><a href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644">GaitType</a></div><div class="ttdeci">GaitType</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d3f/_gait_scheduler_8h_source.html#l00011">GaitScheduler.h:11</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a9a619c10ca4afba68f09ef05ab2364c6"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a9a619c10ca4afba68f09ef05ab2364c6">Mat34</a></div><div class="ttdeci">Eigen::Matrix&lt; T, 3, 4 &gt; Mat34</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00086">cppTypes.h:86</a></div></div>
<div class="ttc" id="struct_gait_data_html_a197fda5994e8ee758412fea8a9f7e6ab"><div class="ttname"><a href="../../d9/d28/struct_gait_data.html#a197fda5994e8ee758412fea8a9f7e6ab">GaitData::phaseOffset</a></div><div class="ttdeci">Vec4&lt; T &gt; phaseOffset</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d3f/_gait_scheduler_8h_source.html#l00067">GaitScheduler.h:67</a></div></div>
<div class="ttc" id="struct_gait_data_html_add0c9a932db0d19643136306c5f9656f"><div class="ttname"><a href="../../d9/d28/struct_gait_data.html#add0c9a932db0d19643136306c5f9656f">GaitData::gaitEnabled</a></div><div class="ttdeci">Eigen::Vector4i gaitEnabled</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d3f/_gait_scheduler_8h_source.html#l00055">GaitScheduler.h:55</a></div></div>
<div class="ttc" id="class_gait_scheduler_html"><div class="ttname"><a href="../../d1/d14/class_gait_scheduler.html">GaitScheduler</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d3f/_gait_scheduler_8h_source.html#l00087">GaitScheduler.h:87</a></div></div>
<div class="ttc" id="_gait_scheduler_8h_html_a59af7e48457ec99ac3c9b011e8708644ab3bce71c8ddab6720ae1b1580c534d16"><div class="ttname"><a href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644ab3bce71c8ddab6720ae1b1580c534d16">GaitType::TROT_RUN</a></div></div>
<div class="ttc" id="struct_gait_data_html_ac4a83dfdb9b0bde71b57c7a274339b4c"><div class="ttname"><a href="../../d9/d28/struct_gait_data.html#ac4a83dfdb9b0bde71b57c7a274339b4c">GaitData::posFootTouchdownWorld</a></div><div class="ttdeci">Mat34&lt; T &gt; posFootTouchdownWorld</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d3f/_gait_scheduler_8h_source.html#l00080">GaitScheduler.h:80</a></div></div>
<div class="ttc" id="struct_gait_data_html_a43fb8805cf329a610d8142c667b24cc8"><div class="ttname"><a href="../../d9/d28/struct_gait_data.html#a43fb8805cf329a610d8142c667b24cc8">GaitData::touchdownScheduled</a></div><div class="ttdeci">Eigen::Vector4i touchdownScheduled</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d3f/_gait_scheduler_8h_source.html#l00075">GaitScheduler.h:75</a></div></div>
<div class="ttc" id="class_gait_scheduler_html_a58f00cf651b7057beca2a74d376f1230"><div class="ttname"><a href="../../d1/d14/class_gait_scheduler.html#a58f00cf651b7057beca2a74d376f1230">GaitScheduler::dphase</a></div><div class="ttdeci">T dphase</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d3f/_gait_scheduler_8h_source.html#l00116">GaitScheduler.h:116</a></div></div>
<div class="ttc" id="struct_gait_data_html_a5bf6283a57cfaa9a6cfa81c993501ae1"><div class="ttname"><a href="../../d9/d28/struct_gait_data.html#a5bf6283a57cfaa9a6cfa81c993501ae1">GaitData::timeSwingRemaining</a></div><div class="ttdeci">Vec4&lt; T &gt; timeSwingRemaining</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d3f/_gait_scheduler_8h_source.html#l00062">GaitScheduler.h:62</a></div></div>
<div class="ttc" id="_gait_scheduler_8h_html_a59af7e48457ec99ac3c9b011e8708644a72baef04098f035e8a320b03ad197818"><div class="ttname"><a href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644a72baef04098f035e8a320b03ad197818">GaitType::CUSTOM</a></div></div>
<div class="ttc" id="struct_gait_data_html_a56e7de32efd93bc39224e607e0d2ba6d"><div class="ttname"><a href="../../d9/d28/struct_gait_data.html#a56e7de32efd93bc39224e607e0d2ba6d">GaitData::phaseStance</a></div><div class="ttdeci">Vec4&lt; T &gt; phaseStance</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d3f/_gait_scheduler_8h_source.html#l00069">GaitScheduler.h:69</a></div></div>
<div class="ttc" id="struct_gait_data_html_acb0a2921bfabe0af9167aa54e5e530f5"><div class="ttname"><a href="../../d9/d28/struct_gait_data.html#acb0a2921bfabe0af9167aa54e5e530f5">GaitData::timeSwing</a></div><div class="ttdeci">Vec4&lt; T &gt; timeSwing</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d3f/_gait_scheduler_8h_source.html#l00060">GaitScheduler.h:60</a></div></div>
<div class="ttc" id="struct_gait_data_html_ac4110d976fc64261b1056ca00dc42d6d"><div class="ttname"><a href="../../d9/d28/struct_gait_data.html#ac4110d976fc64261b1056ca00dc42d6d">GaitData::contactStateScheduled</a></div><div class="ttdeci">Eigen::Vector4i contactStateScheduled</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d3f/_gait_scheduler_8h_source.html#l00073">GaitScheduler.h:73</a></div></div>
<div class="ttc" id="class_gait_scheduler_html_a69896c6cef7e2ce5af6e03257e20cb6a"><div class="ttname"><a href="../../d1/d14/class_gait_scheduler.html#a69896c6cef7e2ce5af6e03257e20cb6a">GaitScheduler::~GaitScheduler</a></div><div class="ttdeci">~GaitScheduler()</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d3f/_gait_scheduler_8h_source.html#l00091">GaitScheduler.h:91</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a738072d0d6a7a632be68f6261501826b"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a738072d0d6a7a632be68f6261501826b">Vec4</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 4, 1 &gt; Vec4</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00030">cppTypes.h:30</a></div></div>
<div class="ttc" id="_gait_scheduler_8h_html_a59af7e48457ec99ac3c9b011e8708644aa693260f3ffbf0dc98943c793a3505ae"><div class="ttname"><a href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644aa693260f3ffbf0dc98943c793a3505ae">GaitType::TRAVERSE_GALLOP</a></div></div>
<div class="ttc" id="struct_gait_data_html_aaeeba6320841f2197611a2eafb11e0a3"><div class="ttname"><a href="../../d9/d28/struct_gait_data.html#aaeeba6320841f2197611a2eafb11e0a3">GaitData::initialPhase</a></div><div class="ttdeci">T initialPhase</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d3f/_gait_scheduler_8h_source.html#l00051">GaitScheduler.h:51</a></div></div>
<div class="ttc" id="_gait_scheduler_8h_html_a59af7e48457ec99ac3c9b011e8708644a1d7f92766f335adef7b76d10b19ed8bc"><div class="ttname"><a href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644a1d7f92766f335adef7b76d10b19ed8bc">GaitType::TROT_WALK</a></div></div>
<div class="ttc" id="struct_gait_data_html_a82fdfdcabbadc544098e48afa7376102"><div class="ttname"><a href="../../d9/d28/struct_gait_data.html#a82fdfdcabbadc544098e48afa7376102">GaitData::timeStanceRemaining</a></div><div class="ttdeci">Vec4&lt; T &gt; timeStanceRemaining</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d3f/_gait_scheduler_8h_source.html#l00061">GaitScheduler.h:61</a></div></div>
<div class="ttc" id="struct_gait_data_html_a1a6d7a7a9ae6cedcdde67e8f44aec8e3"><div class="ttname"><a href="../../d9/d28/struct_gait_data.html#a1a6d7a7a9ae6cedcdde67e8f44aec8e3">GaitData::_currentGait</a></div><div class="ttdeci">GaitType _currentGait</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d3f/_gait_scheduler_8h_source.html#l00041">GaitScheduler.h:41</a></div></div>
<div class="ttc" id="_gait_scheduler_8h_html_a59af7e48457ec99ac3c9b011e8708644ae17f898fe13f9f5dea6e5df227b1800f"><div class="ttname"><a href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644ae17f898fe13f9f5dea6e5df227b1800f">GaitType::STATIC_WALK</a></div></div>
<div class="ttc" id="_gait_scheduler_8h_html_a59af7e48457ec99ac3c9b011e8708644aa58bb7e7d425c92a12bc54b3b3e6da9d"><div class="ttname"><a href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644aa58bb7e7d425c92a12bc54b3b3e6da9d">GaitType::TROT</a></div></div>
<div class="ttc" id="struct_gait_data_html"><div class="ttname"><a href="../../d9/d28/struct_gait_data.html">GaitData</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d3f/_gait_scheduler_8h_source.html#l00033">GaitScheduler.h:33</a></div></div>
<div class="ttc" id="struct_gait_data_html_aeb60c069566b4d3946193252c86f4731"><div class="ttname"><a href="../../d9/d28/struct_gait_data.html#aeb60c069566b4d3946193252c86f4731">GaitData::periodTimeNominal</a></div><div class="ttdeci">T periodTimeNominal</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d3f/_gait_scheduler_8h_source.html#l00050">GaitScheduler.h:50</a></div></div>
<div class="ttc" id="struct_gait_data_html_a0dc8b6daec81a9968b56a6cddf85fc5a"><div class="ttname"><a href="../../d9/d28/struct_gait_data.html#a0dc8b6daec81a9968b56a6cddf85fc5a">GaitData::gaitName</a></div><div class="ttdeci">std::string gaitName</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d3f/_gait_scheduler_8h_source.html#l00047">GaitScheduler.h:47</a></div></div>
<div class="ttc" id="struct_gait_data_html_ad78a18fb241f784d34814048c59042d7"><div class="ttname"><a href="../../d9/d28/struct_gait_data.html#ad78a18fb241f784d34814048c59042d7">GaitData::periodTime</a></div><div class="ttdeci">Vec4&lt; T &gt; periodTime</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d3f/_gait_scheduler_8h_source.html#l00058">GaitScheduler.h:58</a></div></div>
<div class="ttc" id="_gait_scheduler_8h_html_a59af7e48457ec99ac3c9b011e8708644a34c5eadaca5fda7993745596d7d45d6f"><div class="ttname"><a href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644a34c5eadaca5fda7993745596d7d45d6f">GaitType::PRONK</a></div></div>
<div class="ttc" id="_gait_scheduler_8h_html_a59af7e48457ec99ac3c9b011e8708644a30ce6fd695850107605e2e6de3138a82"><div class="ttname"><a href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644a30ce6fd695850107605e2e6de3138a82">GaitType::ROTARY_GALLOP</a></div></div>
<div class="ttc" id="struct_gait_data_html_a3091eb8b2074cd3634a0ca4b765272a5"><div class="ttname"><a href="../../d9/d28/struct_gait_data.html#a3091eb8b2074cd3634a0ca4b765272a5">GaitData::_nextGait</a></div><div class="ttdeci">GaitType _nextGait</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d3f/_gait_scheduler_8h_source.html#l00044">GaitScheduler.h:44</a></div></div>
<div class="ttc" id="struct_gait_data_html_aa05dac9d12c7438c47a04637ec22b9a3"><div class="ttname"><a href="../../d9/d28/struct_gait_data.html#aa05dac9d12c7438c47a04637ec22b9a3">GaitData::switchingPhase</a></div><div class="ttdeci">Vec4&lt; T &gt; switchingPhase</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d3f/_gait_scheduler_8h_source.html#l00065">GaitScheduler.h:65</a></div></div>
<div class="ttc" id="struct_gait_data_html_a3e94492b83de5dfff7adbd9e3d459c07"><div class="ttname"><a href="../../d9/d28/struct_gait_data.html#a3e94492b83de5dfff7adbd9e3d459c07">GaitData::switchingPhaseNominal</a></div><div class="ttdeci">T switchingPhaseNominal</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d3f/_gait_scheduler_8h_source.html#l00052">GaitScheduler.h:52</a></div></div>
<div class="ttc" id="struct_gait_data_html_abe8407729e50c8e324ea6e10f5ca4eeb"><div class="ttname"><a href="../../d9/d28/struct_gait_data.html#abe8407729e50c8e324ea6e10f5ca4eeb">GaitData::contactStatePrev</a></div><div class="ttdeci">Eigen::Vector4i contactStatePrev</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d3f/_gait_scheduler_8h_source.html#l00074">GaitScheduler.h:74</a></div></div>
<div class="ttc" id="struct_gait_data_html_a960a25f46080a2d25abaf5401a48a52b"><div class="ttname"><a href="../../d9/d28/struct_gait_data.html#a960a25f46080a2d25abaf5401a48a52b">GaitData::phaseVariable</a></div><div class="ttdeci">Vec4&lt; T &gt; phaseVariable</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d3f/_gait_scheduler_8h_source.html#l00066">GaitScheduler.h:66</a></div></div>
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